User interaction paradigms for a flying digital assistant

ABSTRACT

Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a divisional application of U.S. patent applicationSer. No. 15/791,230, entitled “USER INTERACTION PARADIGMS FOR A FLYINGDIGITAL ASSISTANT,” filed Oct. 23, 2017, which is a continuation of U.S.patent application Ser. No. 14/689,008, entitled “VIRTUAL CAMERAINTERFACE AND OTHER USER INTERACTION PARADIGMS FOR A FLYING DIGITALASSISTANT,” filed Apr. 16, 2015 (issued as U.S. Pat. No. 9,798,322),which claims the benefit of U.S. Provisional Application No. 62/140,413,entitled “VIRTUAL CAMERA INTERFACE AND OTHER USER INTERACTION PARADIGMSFOR A FLYING DIGITAL ASSISTANT,” filed Mar. 30, 2015, and U.S.Provisional Application No. 62/014,650, entitled “METHODS AND SYSTEMSFOR A FLYING DIGITAL ASSISTANT,” filed Jun. 19, 2014, all of which arehereby incorporated by reference in their entirety for all purposes.This application is therefore entitled to a priority date of Jun. 19,2014.

TECHNICAL FIELD

The present disclosure relates generally to methods and systems for thecontrol of unmanned aerial vehicles (UAV) as platforms for the captureof images (including video). Specifically, the present disclosurerelates to new paradigms for user interaction with and control of UAVsusing a portable multifunction device such as smart phone.

BACKGROUND

Unmanned aerial vehicles (UAV) are increasingly being used as platformsfor taking images and video from the air. A number of UAV systems arecurrently available that provide for image and video capture and remotecontrol from a device on the ground. However, currently availablesystems require piloting using direct control of the UAV similar toother fixed wing or rotor craft. In other words, control by directlyadjusting the pitch, roll, yaw, and power of the UAV, for example, usingcommon control inputs such as a joystick and throttle control. Whileeffective to a degree, such control systems require expertise on thepart of the remote pilot and are prone to crashes caused by pilot error.Instead, methods and systems are needed that provide for indirectcontrol of an otherwise autonomous UAV using new intuitive anduser-friendly paradigms for interaction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is illustration of an example Flying Digital Assistant (“FDA”)100 controlled by a user via a portable multifunction device (PMD),according to some embodiments;

FIG. 2 is a conceptual diagram of a localization and navigation systemfor guiding navigation and image/video capture by an FDA, according tosome embodiments;

FIG. 3 is a conceptual diagram of system for estimating the positionand/or orientation of an FDA using a network of phased array wirelesstransceivers, according to some embodiments;

FIG. 4 is a conceptual diagram of an example system passive localizationof target object, according to some embodiments;

FIGS. 5A-5B illustrate example methods for estimating the positionand/or orientation of objects using computer vision technology,according to some embodiments;

FIG. 6 is a high-level illustration of an omnidirectional camera ball,according to some embodiments;

FIGS. 7-8 illustrate various examples for understanding and describingthe motion of an FDA relative to a point of reference;

FIGS. 9A-9B illustrate a “virtual camera” paradigm for user interactionwith an FDA, according to some embodiments;

FIG. 9C is a flow chart illustrating an example method for implementingthe “virtual camera” user interaction paradigm, according to someembodiments;

FIG. 10A illustrates a “drawn path” paradigm for user interaction withan FDA, according to some embodiments;

FIG. 10B illustrates a “focus point” paradigm for user interaction withan FDA, according to some embodiments;

FIG. 10C illustrates a “preset patterns” paradigm for user interactionwith an FDA, according to some embodiments;

FIG. 10D is a flow diagram of an example method for controlling anaerial view of a physical environment from an FDA using a touch displayof a PMD, according to some embodiments;

FIG. 11 illustrates a “scripted shot” paradigm for user interaction withan FDA, according to some embodiments;

FIGS. 12A-12D illustrate a “multitouch cinematographer” paradigm foruser interaction with an FDA, according to some embodiments;

FIG. 13 is high level system diagram of components in an example FDA,according to some embodiments; and

FIG. 14 is high level system diagram of components in an example PMD,according to some embodiments.

DETAILED DESCRIPTION

Flying Digital Assistant—Overview

FIG. 1 is an illustration of a Flying Digital Assistant (“FDA”) 100controlled by a user 102 via a portable multifunction device (“PMD”)104, according to some embodiments. As shown in FIG. 1, an FDA 100 maycomprise a quadcopter “unmanned aerial vehicle” (UAV) or “drone.” Inthis specification, terms such as “FDA,” “UAV,” “quadcopter,” and“drone” may be used interchangeably. The FDA 100 as shown in FIG. 1 mayinclude propulsion and control surfaces 110 (e.g., powered rotors) formaintaining controlled flight, sensors for automated navigation andflight control 112 (e.g., an omni-directional camera ball—described inmore detail herein), sensors 114 for capturing images (including video),and audio (e.g., a camera and microphone), and means (not shown) forcommunicating with the PMD 104, for example, via a wireless connection116.

The FDA 100 shown in FIG. 1 is an example embodiment, an FDA inaccordance with the present teachings may include more or fewercomponents. Examples of an FDA and PMD are described in more detail inlater sections. Various embodiments of the present teachings allow auser 102 to control the capture of audio, images, and/or video throughthe use of an FDA 100 and a PMD 104. Along with control inputs from auser 102 transmitted via the PMD 104, the FDA 100 may travelautonomously to capture audio, images, and/or video. The FDA 100 maygenerally be conceptualized as an autonomous aerial camera rather thanas a vehicle with an attached camera, and may therefore represent aparadigm shift in which cameras are understood. As will be described inmore detail, an FDA similar to FDA 100 in FIG. 1 and/or as describedwith reference to FIG. 13, may allow for a number of new userinteraction paradigms. For example, a “magic wand” interface in which anFDA follows the motion of a user's PMD as if magically attached to aninvisible tether, a multitouch cinematographer interface in which imagecapture by the FDA is controlled via multitouch gestures applied by auser to a PMD, and scripted shots in which the user may pre script shotsby physically carrying an FDA or PMD through a scene, to name a few.

Flying Digital Assistant—Localization and Navigation

FIG. 2 is a high-level illustration of a localization and navigationsystem 200, according to some embodiments, for guiding navigation andimage/video capture by an FDA 100. According to some embodiments, arelative position and/or pose (position+orientation) of the FDA 100, arelative position and/or pose of the subject, and/or a relative positionand/or pose of a PMD operated by a user 102 may be determined using oneor more of the subsystems illustrated in FIG. 2. Further, this relativepose data may be used by the FDA 100 to navigate and to track subjectsfor image and/or video capture. According to the present teachinglocalization system 200 may include an FDA 100, a GPS system comprisingmultiple GPS satellites 202, a cellular system comprising multiplecellular antennae 204 (with access to sources of localization data 206),a Wi-Fi system comprising multiple Wi-Fi routers 208 (with access tosources of localization data 206), and a portable multifunction device104 operated by a user 102. The FDA 100 may comprise componentsincluding, but not limited to, an inertial measurement unit (IMU), a GPSreceiver, multiple RF receivers and/or transceivers (e.g., cellular LTE,Wi-Fi), and one or more image capture devices. For example, an imagecapture device may be used to determine position and/or pose through theuse of computer vision techniques and or optics-based collisiondetection and range finding. This is illustrated conceptually in FIG. 2by the dotted line 214. These components are described in more detail inthe section titled “Background on a Flying Digital Assistant” and withreference to FIG. 13. Similarly, the PMD 104 may comprise componentsincluding, but not limited to, an inertial measurement unit (IMU), a GPSreceiver, multiple RF receivers and/or transceivers (e.g., cellular LTE,Wi-Fi), and an image capture device. Additional information on thecomponents comprising a PMD 104 may be found under the section titled“Background on a Portable Multifunction Device,” and with reference toFIG. 14.

As mentioned earlier, a relative position and/or pose(position+orientation) of the FDA 100, a relative position and/or poseof the subject (e.g., user 102), and/or a relative position and/or poseof a PMD 104 operated by a user 102 may be determined using one or moreof the subsystems illustrated in FIG. 2. For example, using only the GPSsystem 202, a position on the globe may be determined for any devicecomprising a GPS receiver (e.g., the FDA 100 and/or the PMD 104). WhileGPS by itself in certain implementations may provide highly accurateglobal positioning it is generally is not capable of providing accurateinformation regarding orientation. Instead a technique of multipleinputs and multiple outputs (“MIMO”) (as illustrated in FIG. 2) may beused for localization, potentially in conjunction with otherlocalization subsystems.

Consider the example based on the illustration in FIG. 2; a user 102 isutilizing an autonomous FDA 100 via a PMD 104 to film herself overhead.In order navigate the FDA and inform the tracking by an image capturedevice of the subject (in this case the user), a relative position andorientation of the FDA relative to the PMD (or any other point ofreference) may be necessary.

According to the present teachings a relative position between the FDAand the PMD may be determined using a GPS system to determine a globalposition of the FDA, a global position of the PMD and compare the two.

Similarly, using an array of cellular and or/Wi-Fi antennae, a positionrelative to the known locations of antennae may be determined for boththe FDA and PMD using known positioning techniques. Some knownpositioning techniques include those based on signal trilateration, forexample, round trip time of arrival (RTT) in which a signal is sent andreceived by a signal transceiver and distance is calculated based on theelapsed time, received signal strength (RSS) in which the power levelsof the transmitted signal and the received signals are analyzed and adistance determined based on a known propagation loss. Other knownpositioning techniques include those based on signal triangulation, forexample, angle of arrival (AoA) in which angles of arriving signals aredetermined and through applied geometry a position determined. CurrentWi-Fi standards, such as 803.11n and 802.11ac, allow for RF signalbeamforming (i.e., directional signal transmission using phased-shiftedantenna arrays) from transmitting Wi-Fi routers. Beamforming may beaccomplished through the transmission of RF signals at different phasesfrom spatially distributed antennas (a “phased antenna array”) such thatconstructive interference may occur at certain angles while destructiveinterference may occur at others, thereby resulting in a targeteddirectional RF signal field. Such a targeted field is illustratedconceptually in FIG. 2 by dotted lines 212 emanating from Wi-Fi routers210.

As illustrated in FIG. 3, an FDA 100 and/or PMD 104 may include a phasedarray of Wi-Fi antenna and a relative position and/or pose may becalculated without the necessity for external existing Wi-Fi routers.According to some embodiments, the FDA 100 and/or PMD 104 may transmitand/or receive a beamformed RF signal via a phased antenna array. TheFDA 100 and/or PMD 104 may then detect the phase differences and powerlevels of the respective incoming signals and calculate an AoA for theincoming signals. For example, according to FIG. 3, the PMD 104 maydetermine an AoA of θ₁ for the RF signals 302 transmitted by the FDA100. Similarly, the FDA 100 may determine an AoA of θ₂ for the RFsignals 304 transmitted by the PMD 104. This AoA information may then beincorporated with information gathered by an IMU on the FDA 100 and/orPMD 104 (as well as other positioning data as described earlier) inorder to infer a relative position and/pose between the FDA 100 and thePMD 104.

According to some embodiments, an array of Wi-Fi transmitters and signalmonitors may be utilized for device-free passive localization of objectsthat are not transmitting signals (e.g., a human subject not carrying aPMD). FIG. 4 illustrates an example system 400 for device-free passivelocalization of an object (e.g., a human subject). In this example ahuman subject 402 passes through a network of Wi-Fi transmitters 408transmitting RF signals. The signal monitors 410 (e.g., standardwireless sniffers) may detect changes in the characteristics of the RFsignals received from the Wi-Fi transmitters 408 caused by interferenceas the human subject 402 passes through the signal field. Usinglocalization algorithms, such changes in the RF signal field may becorrelated to the presence of an object, its type, its orientation andits location. Also according to FIG. 4., information gathered bydevice-free passive localization system 400 may be fed wirelessly (e.g.,via Wi-Fi connection 430) for to a nearby FDA 100 in order to inform itstracking of the human subject 402.

According to some embodiments an inertial measurement unit (IMU) may beused to determine relative position and/or orientation. An IMU is adevice that calculates a vehicle's velocity, orientation andgravitational forces using a combination of accelerometers andgyroscopes. As described herein, an FDA 100 and/or PMD 104 may includeone or more IMUs. Using a method commonly referred to as “deadreckoning” an IMU (or associated systems) may calculate and track apredicted a current position based on a previously known position(s)using measured velocities and the time elapsed from the previously knownposition(s). While effective to an extent, the accuracy achieved throughdead reckoning based on measurements from an IMU quickly degrades due tothe cumulative effect of errors in each predicted current position.Errors are further compounded by the fact that each predicted positionis based on a calculated integral of the measured velocity. To countersuch effects, an embodiment utilizing localization using an IMU mayinclude localization data from other sources (e.g., the GPS, Wi-Fi, andcellular systems described above) to continuously update the last knownposition and/or orientation of the object. Further, a nonlinearestimation algorithm (one embodiment being an “extended Kalman filter”)may be applied to a series of measured positions and/or orientations toproduce a real-time optimized prediction of the current position and/ororientation based on assumed uncertainties in the observed data. Kalmanfilters are commonly applied in the area of aircraft navigation,guidance, and controls.

According to some embodiments, computer vision may be used to determinea relative position and/or orientation of an FDA 100, PMD 104, and orany other object. The term, “computer vision” in this context maygenerally refer to the acquiring, processing, analyzing andunderstanding of captured images. Consider again the localization systemillustrated in FIG. 2. According to some embodiments, an FDA 100 mayinclude an image capture device and computer vision capabilities. Inthis example, FDA 100 may be programed to track a user 102 (or otherphysical object). Using computer vision, an FDA 100 may recognize thecaptured image as a user 102 (or other physical object) and may use therecognition information to perform aerial maneuvers by the FDA 100 tokeep the user 102 (or physical object) in view, and/or may makeadjustments to an image stabilization system (discussed in more detailherein) to keep the user 102 (or physical object) in view.

Relative position and/or orientation may be determined through computervision using a number of methods. According to some embodiments an imagecapture device of the FDA 100 may include two or more cameras. Bycomparing the captured image from two or more vantage points, a systememploying computer vision may calculate a distance to a capturedphysical object. With the calculated distance as well as other positionand/or orientation data for the FDA (e.g., data from GPS, Wi-Fi,Cellular, and/or IMU, as discussed above) a relative position and/ororientation may be determined between the FDA 100 and the capturedphysical object.

According to some embodiments, an image capture device of FDA 100 may bea single camera (i.e., a non-stereoscopic camera). Here, computer visionalgorithms may identify the presence of an object and identify theobject as belonging to a known type with particular dimensions. Forexample, through computer vision, the object may be identified as anadult male human. With this recognition data, as well as other positionand/or orientation data for the FDA 100 (e.g., data from GPS, Wi-Fi,Cellular, and/or IMU, as discussed above), FDA 100 may predict arelative position and/or orientation of the object.

According to some embodiments, computer vision may be used along withmeasurements from an IMU (or accelerometer(s) or gyroscope(s)) withinthe FDA and/or PMD 104 carried by a user 102 as illustrated in FIG.5A-5B. FIG. 5A shows a simplified diagram that illustrates how sensordata gathered by an IMU at a PMD 104 may be applied to sensor datagathered by an image capture device at an FDA 100 to determine positionand/or orientation data of a physical object (e.g., a user 102). Outline550 represents the 2-dimensional image captured field of view at an FDA100. As shown in FIG. 5A, the field of view includes the image of aphysical object (here user 102) moving from one position to another.From its vantage point, FDA 100 may determine a distance A traveledacross the image capture field of view. The PMD 104, carried by user102, may determine an actual distance B traveled by the user 102 basedon measurements by internal sensors (e.g., the IMU) and an elapsed time.The FDA 100 may then receive the sensor data and/or the distance Bcalculation from PMD 104 (e.g., via wireless RF signal). Correlating thedifference between the observed distance A and the received distance B,FDA 100 may determine a distance D between FDA 100 and the physicalobject (user 102). With the calculated distance as well as otherposition and/or orientation data for the FDA 100 (e.g., data from GPS,Wi-Fi, cellular, and/or IMU, as discussed above) a relative positionand/or orientation may be determined between the FDA 100 and thephysical object (e.g., user 102).

Alternatively, estimations for the position and/or orientation of eitherthe FDA 100 or PMD 104 may be made using a process generally referred toas “visual inertial odometry” or “visual odometry.” FIG. 5B illustratesthe working concept behind visual odometry at a high level. A pluralityof images is captured in sequence as a camera moves through space. Dueto the movement of the camera, the images captured of the surroundingspace change from frame to frame. In FIG. 5B, this is illustrated byinitial image capture field of view 552 and a subsequent image capturefield of view 554 captured as the camera has moved from a first positionand orientation to a second position and orientation over an elapsedtime. In both images, the camera may capture real world physicalobjects, for example, the house 580 and/or the human subject (e.g.,user) 102. Computer vision techniques are applied to the sequence ofimages to detect and match features of physical objects captured in thefield of view of the camera. For example, in FIG. 5B, features such asthe head of a human subject 102 or the corner of the chimney on thehouse 580 are identified, matched, and thereby tracked. By incorporatingsensor data from an IMU (or accelerometer(s) or gyroscope(s)) associatedwith the camera to the tracked features of the image capture,estimations may be made for the position and/or orientation of thecamera over time. This technique may be applied at both the FDA 100 andPMD 104 to calculate the position and/or orientation of both systems.Further, by communicating the estimates between the systems (e.g., via aWi-Fi connection) estimates may be calculated for the respectivepositions and/or orientations relative to each other. As previouslymentioned, position, orientation, and motion estimation based in part onsensor data from an on board IMU may introduce error propagation issues.As previously stated, optimization techniques may be applied toposition, orientation, and motion estimations to counter suchuncertainties. In some embodiments, a nonlinear estimation algorithm(one embodiment being an “extended Kalman filter”) may be applied to aseries of measured positions and/or orientations to produce a real-timeoptimized prediction of the current position and/or orientation based onassumed uncertainties in the observed data.

According to some embodiments, computer vision may include remotesensing technologies such as laser illuminated detection and ranging(LIDAR or Lidar). For example, an FDA 100 equipped with LIDAR may emitone or more laser beams in a continuous scan up to 360 degrees in alldirections around the FDA 100. Light received by the FDA 100 as thelaser beams reflect off physical objects in the surrounding physicalworld may be analyzed to construct a real time 3D computer model of thesurrounding physical world. Such 3D models may be analyzed to identifyparticular physical objects (e.g., a user 102) in the physical world fortracking. Further, images captured by cameras (e.g., as describedearlier) may be combined with the laser constructed 3D models to formtextured 3D models that may be further analyzed in real time or nearreal time for physical object recognition (e.g., by using computervision algorithms).

The computer vision-aided localization and navigation system describedabove may calculate the position and/or pose of features in the physicalworld in addition to the position and/or pose of the FDA 100 and/or PMD104. The position of these features may then be fed into the navigationsystem such that motion trajectories may be planned that avoidobstacles. In addition, in some embodiments, the visual navigationalgorithms may incorporate data from proximity sensors (e.g.,electromagnetic, acoustic, and/or optics based) to estimate obstacleposition with more accuracy. Further refinement may be possible with theuse of stereoscopic computer vision with multiple cameras, as describedearlier.

According to some embodiments, the previously described relativeposition and/or orientation calculations may be performed by an FDA 100,PMD 104, remote computing device(s) (not shown in the figures), or anycombination thereof.

The localization system 200 of FIG. 2 (including all of the associatedsubsystems as previously described) is only one example of a system forlocalization and navigation. Localization system 200 may have more orfewer components than shown, may combine two or more components, or amay have a different configuration or arrangement of the components.Some of the various components shown in FIGS. 2 through 4 may beimplemented in hardware, software or a combination of both hardware andsoftware, including one or more signal processing and/or applicationspecific integrated circuits.

Flying Digital Assistant—Add-on Module

According to some embodiments an add-on module may comprise softwareand/or hardware components and may be functionally coupled to anexisting unmanned aerial vehicle (UAV) thereby giving the existing UAVthe functionality of an FDA according to the present teachings.According to some embodiments, an add-on module may transmit and receivedata from a user's PMD, and may process and interpret commands and maytalk to the existing UAV's flight controller an image capture device.According to other embodiments the add-on module may further compriseits own image capture device with a computer vision controller. As seenin FIG. 13 which illustrates an example FDA according to the presentteachings, the add-on module may comprise any combination of softwareand/or hardware necessary to convert an existing UAV into an FDA inaccordance with the present teachings. For example, an add-on module maycomprise the components within the dotted line boundary 1390.

According to some embodiments an off-the-shelf PMD (e.g., an iPhone®)may serve as an add-on module when functionally coupled to an existingUAV.

The add-on module may communicate with the existing UAV wirelessly, viathe same interface that a human pilot would with a wireless remotecontrol.

In some embodiments, the add on module may be treated as another sourceof position data. For example, by incorporating position data asdiscussed earlier in this section, the add on module may provideGPS-like position data even when no GPS is available, and in this waymay effectively serve as a more reliable GPS receiver.Flying Digital Assistant—Omnidirectional Camera Ball

According to some embodiments, FDA 100 may comprise multiplehigh-resolution image capture devices 602 (“cameras”) with spatialoffsets from each other, thereby providing the capability to capture afull view of the world in all directions. The cameras may be arrangedsuch that at least two cameras are capable of viewing every angle,thereby allowing for 3D image/video capture and depth recovery (e.g.,through computer vision algorithms) at every angle. According to someembodiments each camera may include a “fisheye” lens. For example, FIG.6 shows a high-level illustration of the concept of multiple cameraswith overlapping fields of view as represented by the dotted lines. FIG.6 is provided to illustrate the concept, but does not indicate aparticular configuration or geometry as a limitation. According to someembodiments, an FDA in accordance with the present teachings may includemore or fewer cameras.

According to some embodiments the position and orientation of eachcamera may be calibrated to an onboard inertial measurement unit (IMU).

According to some embodiments, a monocular navigation algorithm may berun for each camera paired with an on board IMU and as the relativeposition and orientation calibration is dialed in, stereo correspondencemay be performed on observed primitives representing a pair ofcorresponding image features captured by a pair of cameras in order toprovide a more robust estimation of distance to the objects.

Flying Digital Assistant—Hybrid Mechanical/Digital Gimbal

An FDA 100 according to the present teaching may include an imagecapture adjustment and stabilization system. Capturing images and videofrom a vehicle in motion (such as from an FDA 100) may lead to qualityissues such as blur, shake, and disorientation. Image stabilization maygenerally refer to techniques used to counter these effects and producea clear stable image even when captured by a vehicle in motion.

A number of techniques and devices for image stabilization are currentlyknown. For example, a multi-axis mechanical gimbal device may, throughthe use of gyroscopes and mechanical actuators along two or more axis,physically stabilize an image capturing device (e.g., a camera) coupledto a mobile platform. An example of a multi-axis gimbal currentlyavailable is the Freefly MoVI®. While effective in certainimplementations, multi-axis mechanical gimbals may add significantmechanical and systems complexity as well as weight to an FDA 100.Alternatively, captured digital images may be digitally “stabilized”using digital image processing to manipulate the image. For example,Parrot™ offers a drone with a motionless 180 degree camera with afisheye lens. Using post processing and crop filters may result in a“stabilized” image. While effective in certain implementations, fulldigital image stabilization may reduce image quality due to image sensorresolution limits, and in the case of using crop filters may requirecapturing more data than is necessary.

Instead an FDA 100 according to the present teachings may include ahybrid approach comprising a single axis mechanical gimbal along withreal-time image processing (herein referred to as a “digital gimbal”). Asingle axis gimbal capable of adjusting the orientation of the imagecapture device in conjunction with the yaw control of the FDA 100 anddigital image processing may produce a full range or image capture fromlooking straight down from the FDA 100 to the ground to looking straightup from the FDA 100 to the sky while providing an effective minimum inoverall system complexity.

According to some embodiments, a single axis mechanical gimbal, as partof a hybrid approach described above, would adjust the pitch of theimage capture device. Adjusting pitch as opposed to roll or yaw, wouldallow for overall camera range of motion where the FDA 100 isimplemented as a rotary vehicle, for example, a quadcopter (see Sectiontitled “Background on Flying Digital Assistant” for additionalinformation). This has to do with the way in which the flight of aquadcopter is controlled. Generally, a quadcopter is controlled byvarying the orientation of its vertical axis. In other words, in a hoverthe quadcopter's vertical axis is perpendicular to the ground. In orderto move left or right, forwards or backwards, the angular velocity ofthe four rotors are adjusted, and the quadcopter tilts in the directionthat it intends to move. This method of control leaves the quadcopterfree to determine yaw, thus effectively “gimbaling” the yaw axis. Whileusing yaw to point at a desired subject may be difficult for a humanpilot, it can be accomplished by the FDA's flight control system and thelocalization techniques described herein. Accordingly, utilizing a pitchgimbal gives maximum possible view range of motion since the yaw of theimage capture device is easily controlled by adjusting the yaw of thequadcopter itself and the roll of the image capture device is easilycontrolled through digital image processing, for example, simple imagerotation transforms.

Changes in Position and/or Orientation Relative to a Point of Reference

According to some embodiments, the FDA 100 may maneuver according to anabsolute fixed coordinate system. In other words, user inputs andgestures may correspond with an instruction to move to an absolute pointin space. The FDA 100 may also maneuver according to a coordinate systemrelative to a “point of reference.” The point of reference may bedefined as at or associated with a physical object in physical space.For example, the point of reference may be the PMD 104 through which theuser 102 provides input. The point of reference may also be anotherpoint in space which may be specified via the PMD 104 by clicking on alocation of interest on a map or image. For example, a user 102 viewinga live video feed from FDA 100 through the touch display of PMD 104 maytouch a point or select a displayed object to redefine the point ofreference about which motion is defined. Further, the defined point ofreference may be stationary (e.g., a building or physical marker) or maybe in motion (e.g., a moving car). For example, if the point ofreference is set to a moving car, then any motions by the FDA 100 may bemade relative to the car. In other words, if the point of reference isset to be a car moving at 25 mph, then a FDA 100 in “hover” wouldactually match the speed of the car while maintaining a constantposition/orientation relative to the car. If the FDA 100 received inputto move 10 feet in one direction, it would again do so relative to thecar's position/orientation at any given moment.

A relative coordinate system may simplify the motion calculationsnecessary to maneuver the FDA 100. Further, controlled motions maderelative to point of reference associated with the user 102 or PMD 104may allow for more intuitive control of the FDA.

FIGS. 7 and 8 Illustrate at a high level how the motion of an FDA 100controlled by the disclosed techniques may be calculated and/ordescribed according to different coordinate systems.

In FIG. 7, an FDA 100 is be configured to maneuver according to acylindrical polar coordinate system relative to a point of reference,for example, the user 102 or PMD 104 held by the user 102. In such aconfiguration, a detected input by the user 102 with the PMD 104, maycause the FDA 100 to move along the normal tangent to an axial directionz. In other words, a particular input by the user 102, via PMD 104, maycause the FDA 100 to accelerate along basis directions êz and êθ, withno acceleration in the basis direction êr. Accordingly, in response tothe particular input, FDA 100 may travel along an invisible cylindricalplane at a constant radius R from user 102. Similarly, the user mayprovide an input to accelerate the FDA 100 along basis direction êrwhile maintaining constant positions z and θ. For example, as previouslydescribed, a user 102 (while holding the button down on a touch screendisplay of a PMD 104) may slide their finger up or down. This maycorrespond to an acceleration by FDA 100 in the basis direction êr.

Similarly, as shown in FIG. 8, an FDA 100 may be configured to maneuveraccording to a spherical polar coordinate system. Similar to the exampleillustrated in FIG. 7, an input provided by user 102 with the PMD 104may cause the FDA 100 to accelerate along basis directions êφ and êθ,with no acceleration in basis direction êr. Accordingly, in response tothe input, FDA 100 may travel along an invisible spherical plane at aconstant radius R from user 102. Also, similarly, swiping up or downmotion on the touch screen display of PMD 104 may cause FDA 100 toaccelerate in basis direction êr.

Calculations for the motion of the FDA 100 in the above describedcontrol configurations may be accomplished using relative or absolutecoordinate system of any type (Cartesian, polar, cylindrical, etc.),although motion calculations based on an absolute coordinate system maybe more processor intensive than if made relative to point of reference(e.g., user 102 or PMD 104). The cylindrical and polar coordinatesystems are used here for illustrative purposes to describe more clearlythe way in which the FDA 100 may move relative to a reference point(e.g., the user 102 or PMD 104) using the above described techniques.

According to some embodiments, calculation of maneuvers to be performedby the FDA 100 may include implementation of a feed-forward controlscheme. For example, as user 102 begins to move a PMD 104, the motionmay be interpreted as a control input and recognized as fitting a modelof one or more preset of historical control inputs. Here, the recognizedinput may correspond to a predicted trajectory and stop point for FDA100. Accordingly, as an illustrative example, the FDA 100 may begin amaneuver and midpoint along a predicted path, begin maneuvering toreturn to a hover. This will allow for smoother transitions betweenflight maneuvers.

While in flight, the FDA 100 may capture images and or video using oneor more on board optical sensors. In some embodiments, image capture maytrack the same point of reference used for calculating motion. Consideran example in which the user 102 is the point of reference. Here, theFDA 100 may maneuver around the user 102 in response to gestures made bythe user 102 with the PMD 104, as described above. Similarly, whilemoving around the point of reference (i.e., the user 102), the FDA 100may adjust the orientation and/or processing of image capture device(s)(e.g., optical sensors) such that the point of reference (i.e., the user102) remains centered in the field of view of the image capturedevice(s). Image capture may be adjusted according to techniquespreviously described, for example, the a mechanical and/or a hybridmechanical gimbal system linked to one or more cameras.

Virtual Camera—A User Interaction Paradigm

FIGS. 9A-9B illustrate at a high level a “virtual camera” paradigm foruser interaction with an FDA 100, according to some embodiments. Here auser can control the flight and image capture by an FDA 100 by moving aPMD 104 through space. The position/orientation and/or motion of the PMD104 is captured by internal sensors used to control theposition/orientation and/or motion of the FDA 100, including adjustmentsto image capture by the FDA 100.

As shown in FIG. 9A, the detected position, and/or orientation of an PMD104 along multiple axis (linear and rotational) (as indicated by axisdesignation 902 a), relative to a first point of reference, may betransformed into position and/or orientation data relative to a secondpoint of reference. This second set of position and/or orientation datamay be utilized to control the flight and image capture by an FDA 100along multiple axis (as indicated by axis designation 904 a). Theposition and/or orientation of the PMD 104 (including changes inposition/orientation) may be determined based on sensor data from theinternal sensors of PMD 104 and or any of the other localization methodsdescribed previously. For example, using a process of visual odometry,images captured by a camera of PMD 104 along with data from onboardaccelerometers, gyroscopes, IMU, etc., estimates may be made of thecurrent position and/or orientation of PMD over time.

A flow chart of an example method 900 c for implementing the “virtualcamera” user interaction paradigm can be found in FIG. 9C.

According to some embodiments, the PMD 104 may effectively act as a“virtual camera” easily manipulated by a user 102. In other words, themotion of the PMD 104 may be synchronized with the motion and/or imagecapture of the FDA 100. For example, if a user 102 moves PMD 104 in asingle direction (e.g., along the Y axis), this may cause the FDA 100 tomove in a similar direction (e.g., along the Y axis. Similarly, whenuser 102 rotates the PMD 104 about a single axis (e.g., about the X axisor a pitch forward), this may cause the FDA to perform a similarrotation, and or cause the image capture device(s) onboard the FDA 100to adjust to provide the same effect. Recall that a camera may begimbaled (either through mechanical means, digital means, or a hybridapproach). Processors interpreting the motion of the PMD 104 maygenerate a set of commands optimized to adjust both theposition/orientation of the flight platform of FDA 100 as well as theonboard image capture devices in order to best approximate the intendedmotion input by user 102 via PMD 104. These commands may be dependent onthe current position/orientation of the FDA 100 and its associated imagecapture devices at the time the input is received.

Control by a virtual camera may be initiated in response to receiving aninput indicating an intent to control the FDA. For example, user 102 maytouch and hold down a slider button 912 a displayed via a touch screen914 of PMD 104. In response, the FDA 100 may begin to respond to thechanges in position/orientation of the PMD 104. Motion data gathered bysensors at the PMD 104 may be transmitted to the FDA 100 wirelessly(e.g., via Bluetooth®).

Changes in the motion/orientation of the PMD 104 may be scaled tocorrespond to changes in motion/orientation of greater magnitude at theFDA 100. For example, moving the PMD 104 five inches forward may movethe FDA 100 forward by five feet or 50 feet depending on a scale factor.This scale factor may be set by a user 102 via the touch screen display914 a of PMD 104, for example, by moving the slider button 912 a up ordown while holding it down. In an embodiment, moving the slider button912 a may increase the scale factor, thereby further exaggerating anymotion detected at the PMD 104. In an alternative embodiment, scalefactors may depend on the rate of change in position or motion (i.e.,velocity and/or acceleration) of the PMD 104 along any of the 6 axes.For example, if a user 102 moves PMD 104 along the X axis at a constantrate (i.e., a velocity v1, but acceleration zero, the FDA 100 mayrespond by moving along the X axis at a rate corresponding to velocityv1 with a lower scale factor applied. Conversely, if the user 102 movesthe PMD 104 along the X axis at higher velocity v2, the FDA may respondby moving along the X axis at a rate corresponding to v2, but now with ahigher scale factor applied (due to v2 being higher than v1). Similarly,a greater acceleration along the X axis by PMD 104 may correspond to agreater scale factor applied to corresponding motion by the FDA 100.

As shown in FIG. 9A, the view 910 a of the “virtual camera” may bedisplayed via the display 914 a of the PMD 104. This view 910 a may beconceptualizes as a representation of a field of view of a physicalenvironment, wherein the representation is based in part on sensor datagathered by sensors at the FDA 100.

According to some embodiments, image capture the FDA 100 may corresponddirectly with the camera view 910 a displayed at PMD 104. In FIG. 9A, anactual subject 906 a (e.g., a human subject) is captured by cameras onthe FDA and displayed via view 910 a, shown in FIG. 9A as subject 908 a.In other words, in some implementations the camera view 910 a (arepresentation of the image capture at FDA 100) may be a live video feedfrom the image capture devices at FDA 100. This live feed may betransmitted wirelessly between the devices (e.g., via Bluetooth®).

A live video feed from FDA 100 displayed at PMD 104 represents astraightforward implementation of the virtual camera concept, however itintroduces an issue of delay between when a motion input is captured atthe PMD 104 and when the view from the live feed (captured at the FDA100 changes). Delay here may be due partially to latency introducedthrough signal transmission between the device (e.g., particularly whereHD video is involved), however, due to the short distances between thedevices in most cases, such latency will most likely be minimal.Instead, more problematic delay is introduced simply by the physicallimitations on motion of the FDA. In other words, the maximumaccelerations and velocities of the air frame. A user may move PMD 104forward very quickly, but there will be some delay introduced as the FDA100 accelerates and moves in response. Any resulting delay may bejarring to the user 102 and impact the usability of a “virtual camera”user interaction scheme.

One solution to the problem of delay is to compensate for the delaythrough the use of image manipulation (optical zoom and or digital imageprocessing). For example, in the above example of a motion in onedirection X, as the user 102 begins to move the PMD 104 forward alongdirection X, the view 910 a provided via the live feed from FDA 100 mayinitially be adjusted by zooming in (either through optical or digitalzoom) to compensate for any delay caused by the limited speed of the FDA100. The view 910 a may further be adjusted to compensate as the FDA 100catches up and arrives at the location indicated by the by the motion ofthe PMD 104. Similarly, images may be captured at a wider viewing anglethan as displayed via view 910 a at PMD 104. The additional capturedimage data, outside the field of view 910 a, may be utilized for digitalpanning of the field of view. For example, if a user 102 quickly appliesa rotational acceleration along axis Z (indicating an input to apply ahorizontal pan of the camera at FDA 100), a digital pan may be applieduntil the FDA 100 catches up with a yaw maneuver about its Z axis. Also,if the camera onboard the FDA 100 is gimbaled to allow for rotationabout this axis, such rotation of the camera may be applied as well.

Another solution to the problem of delay is to display a real time (ornear real time) generated 3D model of the view from a “virtual camera”at view 910 a instead of a live video feed from the FDA 100. Here, the3D model of the surrounding area is captured or generated using sensorsat the FDA 100, for example, using a laser illuminated detection andrange finding (Lidar), a process of visual inertial odometry (bothdescribed earlier) or any other techniques remote sensing technologies.Sensor data gathered by sensors at the FDA 100 may be used to generateor render in real time (or near real time) a 3D model of the physicalenvironment surrounding the FDA 100 while in flight. A true virtualcamera may be placed in this virtual space, the field of view from whichmay be displayed via view 910 a at PMD 104. Using similar techniques asdescribed above, changes in the position/orientation of the PMD 104,applied by user 102, may be translated into changes in theposition/orientation of the virtual camera in the virtual 3D space (thereal time rendering of the physical environment surrounding the FDA 100.Further, these changes in the position/orientation of the virtual camerain the virtual space may be translated into commands to the flightcontrol system of the FDA 100 to change its position/orientation toeffectively capture images from onboard image capture devices toapproximate the view of the virtual camera in the virtual space.Accordingly, the view 910 a may be adjusted instantaneously from thepoint of view of user 102 in response to changes in position/orientationof the PMD 104 because the changes are made to a virtual camera in thegenerated 3D model. This allows for a smooth experience by user 102 asthe FDA 100 moves to follow the changes in position of the virtualcamera.

In some embodiments, due to limited processor capabilities, acomputer-generated view 910 a, may include only basic wireframes and ortextures, useable only for control of the virtual camera. However, withgreater 3D graphics processing capability (e.g., by using one or moreGPUs), the real time 3D model may by generated with high polygon countsand high-resolution textures. In some embodiments, thecomputer-generated model of the surrounding space may be of such a highquality that it may effectively replace the need for actual imagecapture by onboard cameras. In such an embodiment, the FDA 100 (withremote sensing capabilities) may operate more as a scanning platformthan a camera platform. In other words, the sensors onboard the FDA 100travel around the physical environment scanning the physical features.This data may be used to generate and render a high-quality life-likereal time (or near real time) 3D model of the surround environment. Asthe FDA 100 moves around the physical environment (at random oraccording to a preset pattern) while scanning, a user 102 mayinvestigate the computer-generated representation of the actualenvironment via the PMD 104 as described above.

FIG. 9B shows an implementation of the “virtual camera” user interactionparadigm using a PMD 104 comprising a virtual reality headset, forexample, a headset equipped with stereoscopic displays, such as thoseproduced by Oculus®. The embodiment shown in FIG. 9B operates much thesame way the embodiment in FIG. 9A, except here it is the motions ofuser 102's head captured by PMD 104 that is translated into changes inthe position/orientation of FDA 100.

Drawn Paths—A User Interaction Paradigm

FIG. 10A shows a high-level illustration of an example paradigm for userinteraction with an FDA 100 using drawn paths, according to someembodiments.

As shown in detail 1030 a of FIG. 10A, a PMD 104 may display a view 1010a via a PMD 104 that corresponds with the view from a FDA 100 in flight.For example, as described with respect to view 910 a in FIG. 9A. Asdescribed with respect to FIG. 9A, this view 1010 a may be a live videofeed from FDA 100 or a view from a virtual camera inside a generated andrendered (in real time or near real time) 3D model of the environmentsurrounding FDA 100.

However, instead of defining the motion and image capture of FDA 100 bymoving PMD 104 (as described with respect to FIG. 9A) a user 102 mayinstead define the motion and/or image capture by an FDA by drawing apath 1020 a in view 1010 a, as shown in FIG. 10A. In such embodiments,PMD 104 may include a touch display screen though which view 1010 a isdisplayed. A user 102 may draw a desired path to be flown by FDA 100 bydragging their finger across the touch sensitive display. For example,as shown in FIG. 10A, user 102 has drawn path 1020 a shown in view 1010a. In some embodiments, the desired path 1020 a may be drawn withrespect to a define surface 1080 a as shown in view 1010 a. In someembodiments, user 102 may define surface 1080 via the touch screendisplay of PMD 104. For example, by dragging their finger across thetouch screen display of PMD 104, the user 102 may define an area inwhich to select a surface. The FDA 100 may identify an actual surface1082 a in the physical environment (e.g., using remote sensingtechnology) based on the user's selection. Accordingly, the path 1020 adrawn by user 102 on surface 1080 a as shown in view 1010 a of detail1030 a may cause the FDA 100 to fly a path 1022 a with relation toactual surface 1082 a as shown in FIG. 10A. Actual subject 1042 a (e.g.,a human subject) and the representation 1040 a of the actual subject inview 1010 a are shown to clarify how a drawn path 1020 a may translateto an actual flight path 1022 a along actual surface 1082 a. The actualflight path 1022 a may be relative to a physical surface 1082 a, forexample, the ground. In some embodiments, the FDA 100 may be configuredto travel the path 1022 a defined by drawn path 1020 a, whilemaintaining a constant altitude H above physical surface 1082 a. Inother embodiments, the altitude H at which the FDA 100 flies path 1022 amay be adjustable by user 102 via the touch display of PMD 104.

In some embodiments, the user drawn pattern 1020 a may be interpreted asa gesture selecting one or more of a plurality of present flyingpatterns. For example, instead of drawing path 1020 a mapping directlyto an actual path 1022 a, drawn path 1020 a may be interpreted as apreset arc path, thereby simplifying the calculations necessary todefine actual flight path 1022 a. Consider a user 102 drawing a roughcircle around subject 1040 a. While the drawn circle may not be perfect,a system in accordance with the present teachings may interpret this asa gesture indicating an intent to fly around subject 1042 a in a circlewhile keeping subject 1042 a in the field of view of an image capturedevice of FDA 100.

An example embodiment, in which the drawn path user interaction paradigmmay be applied, is roof inspection using an FDA 100 and associated PMD104. In such an example, a view of a roof may be displayed to the user102 via a display of a PMD 104. The view of the roof corresponds toimage capture by an FDA 100 in a hover over the roof. Via the touchscreen display of PMD 104, the user 102 may select the roof of thebuilding as the reference surface. Once selected, the user 102 may drawa pattern or provide a gesture indicating a path for the FDA 100 to takeover the roof. In response, the FDA 100 will fly the defined path whilemaintaining a constant height above the roof, even if the roof is notflat relative to the ground.

Touch to Focus—A User Interaction Paradigm

FIG. 10B shows a high-level illustration of example paradigm for userinteraction with an FDA 100 using touch to focus, according to someembodiments.

Similar to the drawn path user interaction paradigm discussed withrespect to FIG. 10A, a, PMD 104 may display a view 1010 b via a PMD 104that corresponds with the view from a FDA 100 in flight as shown indetail 1030 b in FIG. 10B. As described with respect to FIG. 9A, thisview 1010 b may be a live video feed from FDA 100 or a view from avirtual camera inside a generated and rendered (in real time or nearreal time) 3D model of the environment surrounding FDA 100.

Here, instead of drawing a path a user may provide an input (e.g., via atouch screen display or PMD 104) that indicates a point 1020 bcorresponding to a point 1022 b in the physical environment to befocused on for image capture. User 102 may define the point 1022 b by,for example, providing a single or double touch at point 1020 b in view1010 b. Point 1020 b may be defined relative to surface 1080 brepresenting actual surface 1082 b. In response, FDA 100 may maneuver(e.g., along path 1024 b) into place above or near point 1022 b. Also,according to some embodiments, an image capture device may be adjusted(e.g., zoom, focus, gimbal, etc.) to better focus and track the selectedpoint 1022 b. Notice that the angle of the image capture field of viewhas changed once FDA 100 arrives near point 1022 b so that it trackspoint 1022 b. A physical subject 1042 b (e.g., a human subject) and therepresentation 1040 b of the physical subject in view 1010 b are shownto clarify how an FDA 100 may maneuver and adjust image capture inresponse to a selection of a point 10202 b on which to focus.

In some embodiments, a user 102 may save one or more points as bookmarksor waypoints on a saved path. For example, a user may save a point 1022b by selecting point 102 b in view 1010 b and holding their finger down.In response, options may be presented (e.g., displayed via the displayof PMD 104) for tagging and saving the point. In some embodiments, thissaved bookmark may be exported as a geo location to be downloaded andused by others. For example, a second user using a second FDA may importpoint 1020 b, via a second PMD and cause the second FDA to fly over andfocus on point 1022 b in the physical environment. Alternatively, thesecond user may view images/video captured by FDA 100 via the second PMDat a later time. In some embodiments, playback may be restricted to ageofence such that the second user may only view images/video of point1022 b captured by FDA 100 when they are within a threshold distancefrom point 1022 b.

While the above embodiments of drawn path and touch to focus userinteraction paradigms are described in the context of a PMD 104 with atouch screen display, the concepts may similarly be applied to devicewithout a touch screen, while reaming consistent with the describedteachings. For example, consider a PMD 104 that is a smart glass device(e.g., Google Glass® or includes a VR headset (e.g., Oculus Rift®).Instead of a touch screen, gesture inputs may be captured by any numberof other sensors (e.g., an optical and/or proximity sensors). Instead ofdrawing a path on a touch screen, a user 102 may draw a path bygesturing in the air, the gesture corresponding to a view displayed viathe smart glass display or VR display.

Concepts such as defining a surface (e.g., 1082 a and 1082 b) toconstrain flight may also be applied to other user interaction paradigmsdescribed herein, for example, the virtual camera interaction paradigm.For example, once a surface is defined (e.g. by a selection via a touchscreen interface) a user 102 may control the flight of an FDA 100 usingthe virtual camera techniques described with respect to FIGS. 9A and 9B,except that motion may be constrained to two dimension. In other words,FDA may move forward and to the side in response to inputs by user 102,but remain a set altitude with relation to the defined surface.

Preset Flying Patterns—A User Interaction Paradigm

According to some embodiments, a user 102 may select preset flyingpatterns for the FDA 100 to fly via a user interface on a PMD 104. Forexample, consider a skier (user 102) that wishes to film their run downa mountain as shown in FIG. 10C. Because the skier 102 will beconcentrating on their skiing, they may not have the ability to activelycontrol the FDA 100 while going down the mountain. Instead, using a PMD104, the user 102 may select from a number of preset flight and filmingpatterns before beginning their run. For example, as shown in detail1030 c in FIG. 10C, a number of selectable preset flying patters 1050c-1054 c may be displayed, for example, via a touch screen interface1060 c of PMD 104 Using the localization and navigation techniques asdisclosed earlier, the FDA may autonomously track the skier down themountain according to a certain flight pattern while filming at the sametime. For example, the FDA may be preset to track the skier down themountain while orbiting at a constant distance. As another example, theFDA may be preset to fly a choreographed pattern in relation to a pointof reference including dramatic fly-bys, pullouts and zooms. As anexample, the point of reference may be defined with respect to user 102and/or PMD 104. As shown in FIG. 10C, in response to a selection of apreset pattern (e.g. one of 1050 c-1054 c), FDA 100 may fly a presetpattern as represented by route 1140 c. The route 1040 c may be definedwith respect to a moving point of reference such as skier 102. Further,according to some embodiments, while flying autonomously according tothe preset pattern, FDA may maintain a constant altitude H with relationto the ground, for example, as represented by plane 1080 c.

As another example, the FDA 100, using computer vision and artificialintelligence algorithms may respond to the scenes as they unfold andselect from a number of preset flight and filming routines, or flycustomized flight patterns, in order to capture a unique and excitingseries of shots.

According to some embodiments, the FDA 100 may respond to informationgathered from the environment in order to update or adjust its flightpattern. For example, although preset to fly and orbiting pattern, theFDA 100 may nevertheless slightly adjust its pattern at times such thatminimizes the number of shots pointed directly at the sun.

FIG. 10D shows a flow diagram of an example method 1000 d forcontrolling an aerial view of a physical environment from a flyingdigital assistant (FDA) using a touch display of a portablemultifunction device (PMD). This method 1000 d may apply to the “drawnline,” “touch to focus,” and “preset pattern” user interaction paradigmsdescribed previously with reference to FIGS. 10A-10C.

Scripted Shots—A User Interaction Paradigm

According to some embodiments, shots may be “scripted” by a user byphysically carrying an FDA 100 or PMD 104 through a scene prior tocapturing images and/or video. For example, a cinematographer may wishto “script” a shot including a low pass by a human subject. Thecinematographer may pick up the FDA 100, and after activating a scriptedshot mode, may carry the FDA 100 past the human subject therebymimicking the shot that the cinematographer wishes to capture. While ina scripted shot mode, the FDA 100 may track and store data associatedwith its relative position and/or orientation (e.g. via the techniquesfor localization as previously described in more detail). According tosome embodiments the position and/or orientation of the FDA 100 may betracked relative to a point of reference (e.g. a stationary PMD 104).Once a path of motion is tracked and stored, the FDA 100 may beconfigured to automatically retrace the stored path and recapture thesame shot multiple times. For example, scripted shots as disclosed maytake the place of track-based camera dolly on the set of movie. Multipletakes of the same shot may be attempted using the exact same cameramovement each time. Further, an airborne FDA 100 allows for greaterflexibility in the types of shots attempted.

Shots may also be “scripted” by a user 102 by physically moving a PMD104 over a scale representation of a scene. FIG. 11 illustrates anexample process of scripting a shot by an FDA 100 using a PMD 104. As anexample, a user 102 may wish to “script” a shot including a high passover landscape scene. The previously described method of scripting shotsmay not work in this instance because the user 102 may not be able tophysically carry the FDA 100 to the height he wishes it to travel in thescripted shot. Instead, the cinematographer, using a PMD 104 may scriptthe shot by moving the PMD 104 over a scale representation of the scene(in some cases just a surface) such that the motion of the PMD 104 maymimic a scaled version of the desired motion of the FDA 100. Forexample, as shown in FIG. 11, a user 102 may move PMD 104 through ascale model 1110 a of a scene.

As PMD 104 moves through the scale model 1110 a, data regarding positionand/or orientation along a path 1120 a (represented by the dotted linein FIG. 11) is stored. Motion data may be captured by a number ofsensors onboard PMD 104, including but not limited to a camera andinternal motion sensors (IMU, accelerometer, gyroscope, etc.), or byusing any of the other methods previously described. According to someembodiments the position and/or orientation of the PMD may be trackedrelative to a point of reference. For example, a sticker with a AR tagmay be placed on the surface representing a stationary point from whichto track relative position and/or orientation. The motion data gatheredby PMD 104 may be analyzed and transformed (e.g. by processors at PMD104, FDA 100, or another computer device (not shown)) into motion dataor sets of commands configured to provide for automated flight of FDA100 through the actual scene 1112 a along a scaled version 1122 a oforiginal path 1120 a. The FDA 100 may be configured to automaticallyretrace path 1122 a and recapture the same shot multiple times. Forexample, data associated with the stored path may be transmitted by thePMD 104 to the FDA 100 wirelessly (e.g. via Wi-Fi).

As shown in FIG. 11, while a path 1020 a may be scaled to path 1022 a,without much issue, FDA 100 may still need to make automated adjustmentsmid-flight to avoid obstacles not considered in the scale shot. Forexample, as shown in FIG. 11A, scaled model 1110 a does not include thetrees as shown in actual scene 1112 a. Using techniques of localizationand navigation previously described, FDA 100 may automatically detectobstacles mid-flight and make appropriate adjustments to the path 1022a.

Scripted shots, as described above, may be shared between users via anonline system. The motions associated with these scripted shots can thenbe performed by pressing a button on the user's PMD.

Multi-touch Cinematographer—A User Interaction Paradigm

According to some embodiments a user 102 may control an FDA 100 (andimage capture via an FDA 100) using “multitouch” gestures applied to atouch screen on a PMD 104. A number of currently available mapapplications for mobile devices allow for navigation within a 2D or 3D(rendered or satellite image-based) map using predefined “multitouch”gestures, for example, Google® Maps. Similarly, an FDA 100 may beconfigured to move and capture images and/or video that mimics theexperience of interacting with a satellite map via multitouch based mapapp. Consider an example of an FDA 100 hovering directly overhead a user102 controlling the FDA 100 via a touch screen PMD 104. The user's PMD104 may display the video captured by the FDA 100 in real time. Thecaptured video may be streamed directly from the FDA 100 to the PMD 104via a wireless RF signal (e.g. Wi-Fi). The user 102 may view on thescreen of the PMD 104, video streamed from the FDA 100. In analternative embodiment, sensor data gathered at the FDA 100 may be usedto generate a 3D model of the surrounding physical area in real time (ornear real time). For example, an FDA 100 equipped with LIDAR may uselaser scanning to generate a 3D model of the surrounding space in realtime or near real time. Similarly, an FDA 100 using computer vision andvisual odometry techniques (previously discussed) may generate a 3Dmodel of the surrounding area in real time or near real time. In such anembodiment, instead of streaming a live video feed from a standardcamera, the FDA 100 may stream “live” renderings of the computergenerated model from the point of view of a virtual camera in the space,wherein the position and/or orientation of the virtual camera in thevirtual space of the generated model corresponds with the positionand/or orientation of the FDA 100 in actual physical space, at any givenmoment. This approach may be used to minimize the delay time between amultitouch gesture input by a user 102 and the time it would take theFDA 100 to fly to a position and/or orientation defined by the gestureinput. In other words, as a user 102 makes the gesture input via PMD104, the virtual camera would make the corresponding adjustment withinthe 3D model in real time or near real time. The FDA 100 may takeseveral more seconds to physically arrive at the indicatedposition/orientation due to physical limitations (e.g., the speed of theFDA, zoom capabilities of the actual camera)

As illustrated in FIGS. 12A-12D, using predefined multitouch gestures,the user 102 may control the FDA 100 and video captured by the FDA 100.For example, as illustrated in FIGS. 12A-12B, in order to zoom in orout, the user 102 may apply a “pinch to zoom” gesture using two fingers.This pinch to zoom gesture may cause the FDA 100 to adjust its altitudeand/or the image capture device to adjust its focal length (i.e.,optically zoom), and/or a digital image processor to adjust the capturedimage (i.e., digital zoom).

As illustrated in FIG. 12C, the user 102 may drop the FDA 100 to a loweraltitude and off to the side of the user by applying a “two fingerscroll” gesture, as shown in FIG. 12C. This gesture may cause the FDA100 to “sweep over” a point of reference (e.g., user 102 or PMD 104)while maintaining a constant relative distance t the point of referenceand while keeping the point of reference centered in the view of theimage capture device (e.g., via hybrid mechanical digital gimbal asdescribed in more detail earlier). Described differently, with referenceto FIG. 8, a two finger scroll gesture may cause acceleration in basisdirection êφ and or êθ, while maintaining distance R to the point ofreference (i.e., zero acceleration in basis direction êr).

As illustrated in FIG. 12D, the user 102 may rotate the captured videoby applying a two-finger gesture in a clockwise or counter clockwisedirection. This gesture may cause the FDA 100 to orbit around a point ofreference (e.g., user 102 or PMD 104), while maintaining a constantdistance or altitude. Described differently, with reference to FIG. 7, atwo finger rotate gesture may cause acceleration in basis direction êθ,while maintaining distance R to vertical axis z or another point ofreference (i.e., zero acceleration in basis directions êr and êz).

Further, the user 102 may perform more complicated maneuvers with theFDA 100, all while staying in the centered in the view of the imagecapture device by applying a two-finger gesture in which one fingerremains stationary and another finger pans around the screen.

According to some embodiments the image displayed on the PMD 104 may bea rendered 3D representation of the scene including the position of user102, as described earlier. In other words, image capture may becontrolled via multitouch interaction with a rendered 3D map of theactual location.

The above described embodiments present only a few examples of themultitouch cinematographer user interaction paradigm. Any number ofpredefined multitouch gestures may be configured to control imagecapture by an FDA 100.

Distributed Audio Capture—A User Interaction Paradigm

According to some embodiments, audio may be captured by both the FDA 104and user's PMD 104, or any number of other electronic devices. Forexample, while capturing images and/or video, and FDA 100 may alsocapture audio (e.g., via a microphone). However, while in flight, audiocaptured by the FDA 100 may be of relatively low quality. Therefore,audio may also be captured via microphones embedded in the user's PMD104 or other electronic devices and synchronized with the images/videocaptured by the FDA 100. According to some embodiments, audio may becaptured by multiple devices with microphones in the area. For example,a user 102 may capture video via an FDA 100, audio via their PMD 104,and may further capture audio from a distributed network of additionalPMDs or other electronic devices in close proximity to the PMD 104.Audio captured by the additional PMDs may be streamed to the user's PMD104 via wireless signal (e.g., Bluetooth).

Synchronization between the captured audio and captured video may beperformed in real time or in post-production an using combinations ofsoftware and/or hardware instantiated on an FDA 100, user's PMD 104,remote computing device (e.g., a remote server), or any combinationthereof.

Multiple Subject Filming—A User Interaction Paradigm

According to some embodiments, an FDA 100 may be connected to multiplePMDs on a wireless network and may capture images/video of multiplesubjects. For example, consider an FDA 100 hovering over an outdoorevent. Any person attending the event with a compatible PMD may connectto the wireless network to which the FDA 100 is connected and request tobe filmed via the user interface on their respective PMD. The FDA 100,having identified the relative location and/or orientation of therequesting user's PMD, may maneuver to capture images and/or video ofthe user while tracking the user. According to some embodiments,requesting users may be charged a fee (e.g., a subscription or one-timefee) for requesting temporary use of the FDA 100. According to someembodiments, a director user may identify subjects to track and film.

Flight Time Tied to Battery Life/Recording Time—A User InteractionParadigm

According to some embodiments, the FDA 100 may capture video at alltimes while in flight. According to some embodiments, the PMD 104 mayreport to the user (through a user interface) flight time remaining asthe lesser of recording time left and battery flight time left.According to some embodiments, the FDA 100 may automatically landimmediately before the battery runs out. According to some embodiments,the FDA 100 may land immediately before storage space (e.g., forcaptured video) runs out.

Background on Flying Digital Assistant

An FDA 100 may be implemented as an Unmanned Aerial Vehicle (UAV),according to some embodiments. An Unmanned Aerial Vehicle (UAV),sometimes referred to as a drone, is generally defined as any aircraftcapable of controlled flight without a human pilot onboard. UAVs may becontrolled autonomously by onboard computer processors and/or via remotecontrol by a remotely located human pilot. Similar to an airplane, UAVsmay utilize fixed aerodynamic surfaces along means for propulsion (e.g.,propeller, jet) to achieve lift. Alternatively, similar to helicopters,UAVs may directly use the means for propulsion (e.g., propeller, jet) tocounter gravitational forces and achieve lift. Propulsion-driven lift(as in the case of helicopters) offers significant advantages in certainimplementations, for example, as a mobile filming platform, because itallows for controlled motion along all axes.

Multi-rotor helicopters, in particular quadcopters, have emerged as apopular UAV configuration. A quadcopter (also known as a quadrotorhelicopter or quadrotor) is a multi-rotor helicopter that is lifted andpropelled by four rotors. Unlike most helicopters, quadcopters use twosets of two fixed-pitch propellers. A first set of rotors turnsclockwise, while a second set of rotors turns counter-clockwise. Inturning opposite directions, the first set of rotors may counter theangular torque caused by the rotation of the other set, therebystabilizing flight. Flight control is achieved through variation in theangular velocity of each of the four fixed-pitch rotors. By varying theangular velocity of each of the rotors, a quadcopter may perform preciseadjustments in its position (e.g., adjustments in altitude and levelflight left, right, forward and backward) and orientation, includingpitch (rotation about a first lateral axis), roll (rotation about asecond lateral axis), and yaw (rotation about a vertical axis). Forexample, if all four rotors are spinning (two clockwise, and twocounter-clockwise) at the same angular velocity, the net aerodynamictorque about the vertical yaw axis is zero. Provided the four rotorsspin at sufficient angular velocity to provide a vertical thrust equalto the force of gravity, the quadcopter can maintain a hover. Anadjustment in yaw may be induced by varying the angular velocity of asubset of the four rotors thereby mismatching the cumulative aerodynamictorque of the four rotors. Similarly, an adjustment in pitch and/or rollmay be induced by varying the angular velocity of a subset of the fourrotors but in a balanced fashion such that lift is increased on one sideof the craft and decreased on the other side of the craft. An adjustmentin altitude from hover may be induced by applying a balanced variationin all four rotors thereby increasing or decreasing the vertical thrust.Positional adjustments left, right, forward, and backward may be inducedthrough combined pitch/roll maneuvers with balanced applied verticalthrust. For example, to move forward on a horizontal plane, thequadcopter would vary the angular velocity of a subset of its fourrotors in order to perform a pitch forward maneuver. While pitchingforward, the total vertical thrust may be increased by increasing theangular velocity of all the rotors. Due to the forward pitchedorientation, the acceleration caused by the vertical thrust maneuverwill have a horizontal component and will therefore accelerate the craftforward on horizontal plane.

FIG. 13 is a high-level diagram illustrating various components of anexample FDA 100, according to some embodiments. The FDA 100 may includeone or more means for propulsion (e.g., rotors 1302 and motor(s) 1304),one or more electronic speed controllers 1306, a flight controller 1308,a peripheral interface 1310, a processor(s) 1312, a memory controller1314, a memory 1316 (which may include one or more computer readablestorage mediums), a power module 1318, a GPS module 1320, acommunications interface 1322, an audio circuitry 1324, an accelerometer1326 (including subcomponents such as gyroscopes), an inertialmeasurement unit (IMU) 1328, a proximity sensor 1330, an optical sensorcontroller 1332 and associated optical sensor(s) 1334, a PMD interfacecontroller 1336 with associated interface device(s) 1338, and any otherinput controllers 1340 and input device 1342, for example, displaycontrollers with associated display device(s). General terms such as“sensors” may refer to one or more components or combinations ofcomponents, for example, microphone 1324, proximity sensors 1330,accelerometers 1326, IMU 1328, optical sensors 1334, and any combinationthereof. These components may communicate over one or more communicationbuses or signal lines as represented by the arrows in FIG. 13. Asmentioned earlier, piloting input may be provided wirelessly by a user102 on the ground or in another vehicle via remote control or portablemultifunction device 104.

FDA 100 is only one example of an FDA. FDA 100 may have more or fewercomponents than shown, may combine two or more components as functionalunits, or a may have a different configuration or arrangement of thecomponents. Some of the various components shown in FIG. 13 may beimplemented in hardware, software or a combination of both hardware andsoftware, including one or more signal processing and/or applicationspecific integrated circuits. Also, FDA 100 may include an off-the-shelfUAV coupled with a modular add-on device (e.g., one including componentswithin outline 1390).

As described earlier, the means for propulsion 1302-1304 may comprise afixed-pitch rotor. The means for propulsion may also be a variable-pitchrotor (e.g., using a gimbal mechanism), a variable-pitch jet engine, orany other mode of propulsion having the effect of providing force. Themeans for propulsion 1302-1304 may include a means for varying theapplied thrust, for example, via an electronic speed controller 1306varying the speed of each fixed-pitch rotor.

Flight Controller 1308 (sometimes referred to as a “flight controlsystem” or “autopilot”) may include a combination of hardware and/orsoftware configured to receive input data (e.g., input control commandsfrom a PMD 104 or other sources), interpret the data and output controlsignals to the propulsion systems 1302-1306 and/or aerodynamic surfaces(e.g., fixed wing control surfaces) of the FDA 100.

Memory 1316 may include high-speed random-access memory and may alsoinclude non-volatile memory, such as one or more magnetic disk storagedevices, flash memory devices, or other non-volatile solid-state memorydevices. Access to memory 1316 by other components of FDA 100, such asthe processors 1312 and the peripherals interface 1310, may becontrolled by the memory controller 1314.

The peripherals interface 1310 may couple the input and outputperipherals of the FDA 100 to the processor(s) 1312 and memory 1316. Theone or more processors 1312 run or execute various software programsand/or sets of instructions stored in memory 1316 to perform variousfunctions for the FDA 100 and to process data. In some embodiments,processors 1312 may include general central processing units (CPUs),specialized processing units such as Graphical Processing Units (GPUs)particularly suited to parallel processing applications, or anycombination thereof.

In some embodiments, the peripherals interface 1310, the processor(s)1312, and the memory controller 1314 may be implemented on a singleintegrated chip. In some other embodiments, they may be implemented onseparate chips.

The network communications interface 1322 may facilitate transmissionand reception of communications signals often in the form ofelectromagnetic signals. The transmission and reception ofelectromagnetic communications signals may be carried out over physicalmedia such copper wire cabling or fiber optic cabling, or may be carriedout wirelessly, for example, via a radiofrequency (RF) transceiver. Insome embodiments, the network communications interface may include RFcircuitry. In such embodiments, RF circuitry may convert electricalsignals to/from electromagnetic signals and communicate withcommunications networks and other communications devices via theelectromagnetic signals. The RF circuitry may include well-knowncircuitry for performing these functions, including but not limited toan antenna system, an RF transceiver, one or more amplifiers, a tuner,one or more oscillators, a digital signal processor, a CODEC chipset, asubscriber identity module (SIM) card, memory, and so forth. The RFcircuitry may facilitate transmission and receipt of data overcommunications networks (including public, private, local, and widearea). For example, communication may be over a wide area network (WAN),a local area network (LAN), or a network of networks such as theInternet. Communication may be facilitated over wired transmission media(e.g., via Ethernet) or wirelessly. Wireless communication may be over awireless cellular telephone network, a wireless local area network (LAN)and/or a metropolitan area network (MAN), and other modes of wirelesscommunication. The wireless communication may use any of a plurality ofcommunications standards, protocols and technologies, including but notlimited to Global System for Mobile Communications (GSM), Enhanced DataGSM Environment (EDGE), high-speed downlink packet access (HSDPA),wideband code division multiple access (W-CDMA), code division multipleaccess (CDMA), time division multiple access (TDMA), Bluetooth, WirelessFidelity (Wi-Fi) (e.g., IEEE 802.11a, IEEE 802.11b, IEEE 802.11g and/orIEEE 802.11n), voice over Internet Protocol (VoIP), Wi-MAX, or any othersuitable communication protocol, including communication protocols notyet developed as of the filing date of this document.

The audio circuitry 1324, including the speaker and microphone 1350 mayprovide an audio interface between the surrounding environment and theFDA 100. The audio circuitry 1324 may receive audio data from theperipherals interface 1310, convert the audio data to an electricalsignal, and transmits the electrical signal to the speaker 1350. Thespeaker 1350 may convert the electrical signal to human-audible soundwaves. The audio circuitry 1324 may also receive electrical signalsconverted by the microphone 1350 from sound waves. The audio circuitry1324 may convert the electrical signal to audio data and transmits theaudio data to the peripherals interface 1310 for processing. Audio datamay be retrieved from and/or transmitted to memory 1316 and/or thenetwork communications interface 1322 by the peripherals interface 1310.

The I/O subsystem 1360 may couple input/output peripherals on the FDA100, such as an optical sensor system 1334, the PMD interface 1338, andother input/control devices 1342, to the peripherals interface 1310. TheI/O subsystem 1360 may include an optical sensor controller 1332, a PMDinterface controller 1336, and other input controller(s) 1340 for otherinput or control devices. The one or more input controllers 1340receive/send electrical signals from/to other input or control devices1342.

The other input/control devices 1342 may include physical buttons (e.g.,push buttons, rocker buttons, etc.), dials, touch screen displays,slider switches, joysticks, click wheels, and so forth. A touch screendisplay may be used to implement virtual or soft buttons and one or moresoft keyboards. A touch-sensitive touch screen display may provide aninput interface and an output interface between the FDA 100 and a user102. A display controller may receive and/or send electrical signalsfrom/to the touch screen. The touch screen may display visual output tothe user 102. The visual output may include graphics, text, icons,video, and any combination thereof (collectively termed “graphics”). Insome embodiments, some or all of the visual output may correspond touser-interface objects, further details of which are described below.

A touch sensitive display system may have a touch-sensitive surface,sensor or set of sensors that accepts input from the user based onhaptic and/or tactile contact. The touch sensitive display system andthe display controller (along with any associated modules and/or sets ofinstructions in memory 1316) may detect contact (and any movement orbreaking of the contact) on the touch screen and convert the detectedcontact into interaction with user-interface objects (e.g., one or moresoft keys or images) that are displayed on the touch screen. In anexemplary embodiment, a point of contact between a touch screen and theuser corresponds to a finger of the user.

The touch screen may use LCD (liquid crystal display) technology, or LPD(light emitting polymer display) technology, although other displaytechnologies may be used in other embodiments. The touch screen and thedisplay controller may detect contact and any movement or breakingthereof using any of a plurality of touch sensing technologies now knownor later developed, including but not limited to capacitive, resistive,infrared, and surface acoustic wave technologies, as well as otherproximity sensor arrays or other elements for determining one or morepoints of contact with a touch screen.

The PMD interface device 1338 along with PMD interface controller 1336may facilitate the transmission of data between the FDA 100 and a PMD104 in use as a control device by a user 102. According to someembodiments, communications interface 1322 may facilitate thetransmission of data between FDA 100 and a PMD 104 (e.g., where data istransferred over a local Wi-Fi network).

The FDA 100 also includes a power system 1318 for powering the variouscomponents. The power system 1318 may include a power management system,one or more power sources (e.g., battery, alternating current (AC)), arecharging system, a power failure detection circuit, a power converteror inverter, a power status indicator (e.g., a light-emitting diode(LED)) and any other components associated with the generation,management and distribution of power in computerized device.

The FDA 100 may also include one or more optical sensors 1334. FIG. 13shows an optical sensor coupled to an optical sensor controller 1332 inI/O subsystem 1360. The optical sensor 1334 may include a charge-coupleddevice (CCD) or complementary metal-oxide semiconductor (CMOS)phototransistors. The optical sensor 1334 receives light from theenvironment, projected through one or more lens (the combination ofoptical sensor and lens herein referred to as a “camera”) and convertsthe light to data representing an image. In conjunction with an imagingmodule located in memory 1316, the optical sensor 1332 may capture stillimages and/or video. In some embodiments, FDA 100 may include a singlefixed camera. In other embodiments, FDA 100 may include a singleadjustable camera (adjustable using a gimbal mechanism with one or moreaxis of motion). In some embodiments, FDA 100 may include a singlewide-angle lens providing a wider range of vision. In some embodiments,FDA 100 may include a single omnidirectional camera providing full 360degree viewing in all directions. In some embodiments, FDA 100 mayinclude two or more cameras (of any type as described herein) placednext to each other in order to provide stereoscopic vision. In someembodiments, FDA 100 may include multiple cameras of any combination asdescribed above. For example, FDA 100 may include four sets of twocameras each positioned such that FDA 100 may provide a stereoscopicview of the full 360 degrees about its perimeter. In some embodiments,an FDA 100 may include some cameras dedicated for image capture andother cameras dedicated for localization and navigation.

The FDA 100 may also include one or more proximity sensors 1330. FIG. 13shows a proximity sensor 1330 coupled to the peripherals interface 1310.Alternately, the proximity sensor 1330 may be coupled to an inputcontroller 1340 in the I/O subsystem 1360. Proximity sensors 1330 maygenerally include remote sensing technology for proximity detection,range measurement, target identification, etc. For example, proximitysensors 1330 may include radar, sonar, and light illuminated detectionand ranging (Lidar).

The FDA 100 may also include one or more accelerometers 1326. FIG. 13shows an accelerometer 1326 coupled to the peripherals interface 1310.Alternately, the accelerometer 1326 may be coupled to an inputcontroller 1340 in the I/O subsystem 1360.

The FDA 100 may include one or more inertial measurement units (IMU)1328. An IMU 1328 may measure and report the FDA's velocity,acceleration, orientation, and gravitational forces using a combinationof gyroscopes and accelerometers (e.g., accelerometer 1326).

The FDA 100 may include a global positioning system (GPS) receiver 1320.FIG. 13 shows an GPS receiver 1320 coupled to the peripherals interface1310. Alternately, the GPS receiver 1320 may be coupled to an inputcontroller 1340 in the I/O subsystem 1360. The GPS receiver 1320 mayreceive signals from GPS satellites in orbit around the earth, calculatea distance to each of the GPS satellites (through the use of GPSsoftware), and thereby pinpoint a current global position of FDA 100. Insome embodiments, positioning of FDA 100 may be accomplished without GPSsatellites through the use of other techniques as described herein.

In some embodiments, the software components stored in memory 1316 mayinclude an operating system, a communication module (or set ofinstructions), a flight control module (or set of instructions), alocalization module (or set of instructions), a computer vision module,a graphics module (or set of instructions), and other applications (orsets of instructions). For clarity one or more modules and/orapplications may not be shown in FIG. 13.

The operating system (e.g., Darwin, RTXC, LINUX, UNIX, OS X, WINDOWS, oran embedded operating system such as VxWorks) includes various softwarecomponents and/or drivers for controlling and managing general systemtasks (e.g., memory management, storage device control, powermanagement, etc.) and facilitates communication between various hardwareand software components.

A communications module may facilitate communication with other devicesover one or more external ports 1344 and may also include varioussoftware components for handling data transmission via the networkcommunications interface 1322. The external port 1344 (e.g., UniversalSerial Bus (USB), FIREWIRE, etc.) may be adapted for coupling directlyto other devices or indirectly over a network (e.g., the Internet,wireless LAN, etc.).

A graphics module may include various software components forprocessing, rendering and displaying graphics data. As used herein, theterm “graphics” may include any object that can be displayed to a user,including without limitation text, still images, videos, animations,icons (such as user-interface objects including soft keys), and thelike. The graphics module in conjunction with a graphics processing unit(GPU) 1312 may process in real time or near real time, graphics datacaptured by optical sensor(s) 1334 and/or proximity sensors 1330.

A computer vision module, which may be a component of graphics module,provides analysis and recognition of graphics data. For example, whileFDA 100 is in flight, the computer vision module along with graphicsmodule (if separate), GPU 1312, and optical sensor(s) 1334 and/orproximity sensors 1330 may recognize and track the captured image of asubject located on the ground. The computer vision module may furthercommunicate with a localization/navigation module and flight controlmodule to update a relative position between FDA 100 and a point ofreference, for example, a target object (e.g., a PMD or human subject),and provide course corrections to maintain a constant relative positionwhere the subject is in motion.

A localization/navigation module may determine the location and/ororientation of FDA 100 and provides this information for use in variousmodules and applications (e.g., to a flight control module in order togenerate commands for use by the flight controller 1308).

Optical sensor(s) 1333 in conjunction with, optical sensor controller1332, and a graphics module, may be used to capture still images orvideo (including a video stream) and store them into memory 1316.

Each of the above identified modules and applications correspond to aset of instructions for performing one or more functions describedabove. These modules (i.e., sets of instructions) need not beimplemented as separate software programs, procedures or modules, andthus various subsets of these modules may be combined or otherwisere-arranged in various embodiments. In some embodiments, memory 1316 maystore a subset of the modules and data structures identified above.Furthermore, memory 1316 may store additional modules and datastructures not described above.

Background on Portable Multifunction Device

FIG. 14 is a block diagram illustrating an example portablemultifunction device (“PMD”) 104 in accordance with some embodiments. Insome embodiments, PMD 104 may include mobile, hand held or otherwiseportable computing devices that may be any of, but not limited to, anotebook, a laptop computer, a handheld computer, a palmtop computer, amobile phone, a cell phone, a PDA, a smart phone (e.g., iPhone®, etc.),a tablet (e.g., iPad®, etc.), a phablet (e.g., HTC Droid DNA™, etc.), atablet PC, a thin-client, a hand held console, a hand held gaming deviceor console (e.g., XBOX®, etc.), mobile-enabled powered watch (e.g., iOS,Android or other platform based), a smart glass device (e.g., GoogleGlass™, etc.) and/or any other portable, mobile, hand held devices, etc.running on any platform or any operating system (e.g., OS X, iOS,Windows Mobile, Android, Blackberry OS, Embedded Linux platforms, PalmOS, Symbian platform, Google Chrome OS, etc.). A PMD 104 may also be asimple electronic device comprising minimal components. For example, aPMD may simply include sensors for detecting motion and/or orientationand a transmitter/receiver means for transmitting and/or receiving data.

The PMD 104 may include a memory 1416 (which may include one or morecomputer readable storage mediums), a memory controller 1414, one ormore processing units 1412 which may include central processing units(CPUs) and graphics processing units (GPUs), a peripherals interface1410, network communications interface 1422, audio interface 1424, aspeaker/microphone 1450, power systems 1418, external port(s) 1444, GPSsystem 1420, proximity sensors 1430, accelerometers 1426, inertialmeasurement unit (IMU) 1428, and an input/output (I/O) subsystem 1460.The PMD 104 may include one or more optical sensors 1434. Thesecomponents may communicate over one or more communication buses orsignal lines.

PMD 104 is only one example of a PMD. PMD 104 may have more or fewercomponents than shown, may combine two or more components, or a may havea different configuration or arrangement of the components. The variouscomponents shown in FIG. 14 may be implemented in hardware, software ora combination of both hardware and software, including one or moresignal processing and/or application specific integrated circuits.Further, general terms such as “sensors” may refer to one or morecomponents or combinations of components, for example, microphone 1424,proximity sensors 1430, accelerometers 1426, IMU 1428, optical sensors1434, and any combination thereof.

Memory 1416 may include high-speed random-access memory and may alsoinclude non-volatile memory, such as one or more magnetic disk storagedevices, flash memory devices, or other non-volatile solid-state memorydevices. Access to memory 1416 by other components of PMD 104, such asthe processor(s) 1412 and the peripherals interface 1410, may becontrolled by the memory controller 1414.

The peripherals interface 1410 couples the input and output peripheralsof the device to the processor(s) 1412 and memory 1416. One or moreprocessors 1412 may run or execute various software programs and/or setsof instructions stored in memory 1416 to perform various functions forthe PMD 104 and to process data.

In some embodiments, the peripherals interface 1410, the processor(s)1412, and the memory controller 1414 may be implemented on a singlechip, such as an integrated microchip. In some other embodiments, theymay be implemented on separate chips.

The network communications interface 1422 may facilitate transmissionand reception of communications signals often in the form ofelectromagnetic signals. The transmission and reception ofelectromagnetic communications signals may be carried out over physicalmedia such copper wire cabling or fiber optic cabling, or may be carriedout wirelessly, for example, via a radiofrequency (RF) transceiver. Insome embodiments, the network communications interface 1422 may includeRF circuitry. In such embodiments, RF circuitry may convert electricalsignals to/from electromagnetic signals and communicate withcommunications networks and other communications devices via theelectromagnetic signals. The RF circuitry may include well-knowncircuitry for performing these functions, including but not limited toan antenna system, an RF transceiver, one or more amplifiers, a tuner,one or more oscillators, a digital signal processor, a CODEC chipset, asubscriber identity module (SIM) card, memory, and so forth. The RFcircuitry may facilitate transmission and receipt of data overcommunications networks (including public, private, local, and widearea). For example, communication may be over a wide area network (WAN),a local area network (LAN), or a network of networks such as theInternet. Communication may be facilitated over wired transmission media(e.g., via Ethernet) or wirelessly. Wireless communication may be over awireless cellular telephone network, a wireless local area network (LAN)and/or a metropolitan area network (MAN), and other modes of wirelesscommunication. The wireless communication may use any of a plurality ofcommunications standards, protocols and technologies, including but notlimited to Global System for Mobile Communications (GSM), Enhanced DataGSM Environment (EDGE), high-speed downlink packet access (HSDPA),wideband code division multiple access (W-CDMA), code division multipleaccess (CDMA), time division multiple access (TDMA), Bluetooth, Wi-Fi(e.g., IEEE 802.11a, IEEE 802.11b, IEEE 802.11g and/or IEEE 802.11n),voice over Internet Protocol (VoIP), Wi-MAX, or any other suitablecommunication protocol, including communication protocols not yetdeveloped as of the filing date of this document.

The audio circuitry 1424, the speaker/microphone 1450 may provide anaudio interface between a user 102 and the PMD 104. The audio circuitry1424 may receive audio data from the peripherals interface 1410, convertthe audio data to an electrical signal, and transmit the electricalsignal to the speaker 1450. The speaker 1450 may convert the electricalsignal to human-audible sound waves. The audio circuitry 1424 may alsoreceive electrical signals converted by the microphone 1450 from soundwaves. The audio circuitry 1424 converts the electrical signal to audiodata and transmits the audio data to the peripherals interface 1410 forprocessing. Audio data may be retrieved from and/or transmitted tomemory 1416 and/or the network communications interface 1422 by theperipherals interface 1410.

The I/O subsystem 1460 couples input/output peripherals on the PMD 104,such as a touch sensitive display system 1436-1438 and otherinput/control devices 1440, to the peripherals interface 1410. The I/Osubsystem 1460 may include an optical sensor controller 1432 for one ormore optical sensor devices 1434, a display controller 1436 for one ormore touch displays 1438, and one or more other input controllers 1440for other input or control devices 1442. The one or more inputcontrollers 1440 receive/send electrical signals from/to other input orcontrol devices 1442. The other input/control devices 1442 may includephysical buttons (e.g., push buttons, rocker buttons, etc.), dials,slider switches, joysticks, click wheels, and so forth. The touch screen1438 is used to implement virtual or soft buttons and one or more softkeyboards.

The touch-sensitive touch screen 1438 provides an input interface and anoutput interface between the PMSD104 and a user 102. The displaycontroller 1436 receives and/or sends electrical signals from/to thetouch screen 1438. The touch screen 1438 displays visual output to theuser 102. The visual output may include graphics, text, icons, video,and any combination thereof (collectively termed “graphics”). In someembodiments, some or all of the visual output may correspond touser-interface objects, further details of which are described below.

A touch sensitive display system 1438 may have a touch-sensitivesurface, sensor or set of sensors that accepts input from the user basedon haptic and/or tactile contact. The touch sensitive display system1438 and the display controller 1436 (along with any associated modulesand/or sets of instructions in memory 1416) detect contact (and anymovement or breaking of the contact) on the touch screen 1438 andconverts the detected contact into interaction with user-interfaceobjects (e.g., one or more soft keys, icons, web pages or images) thatare displayed on the touch screen. In an exemplary embodiment, a pointof contact between a touch screen 1438 and the user corresponds to afinger of the user 102.

The touch screen 1438 may use LCD (liquid crystal display) technology,or LPD (light emitting polymer display) technology, although otherdisplay technologies may be used in other embodiments. The touch screen1438 and the display controller 1436 may detect contact and any movementor breaking thereof using any of a plurality of touch sensingtechnologies now known or later developed, including but not limited tocapacitive, resistive, infrared, and surface acoustic wave technologies,as well as other proximity sensor arrays or other elements fordetermining one or more points of contact with a touch screen 1438.

The PMD 104 also includes a power system 1418 for powering the variouscomponents. The power system 1418 may include a power management system,one or more power sources (e.g., battery, alternating current (AC)), arecharging system, a power failure detection circuit, a power converteror inverter, a power status indicator (e.g., a light-emitting diode(LED)) and any other components associated with the generation,management and distribution of power in portable devices.

The PMD 104 may also include one or more optical sensors 1434. FIG. 13shows an optical sensor coupled to an optical sensor controller 1432 inI/O subsystem 1460. The optical sensor 1343 may be directly coupled tothe peripheral interface 1410. The optical sensor device 1434 mayinclude charge-coupled device (CCD) or complementary metal-oxidesemiconductor (CMOS) phototransistors. The optical sensor 1434 receiveslight from the environment, projected through one or more lens, andconverts the light to data representing an image. In conjunction with animaging module 1484 (also called a camera module), the optical sensor1434 may capture still images and/or video. In some embodiments, anoptical sensor is located on the back of the PMD 104, opposite the touchscreen display 1438 on the front of the device, so that the touch screendisplay may be used as a viewfinder for either still and/or video imageacquisition. In some embodiments, an optical sensor 134 is located onthe front of the device. In some embodiments, the position of theoptical sensor 1434 can be changed by the user 102 (e.g., by rotatingthe lens and the sensor in the device housing) so that a single opticalsensor 1434 may be used along with the touch screen display.

Optical sensors 1434 in conjunction with accelerometers 1426, IMU 1428and a localization module may facilitate calculating estimates of theposition and/or orientation of PMD 104, for example, via a process ofvisual odometry.

The PMD 104 may also include one or more proximity sensors 1430. FIG. 14shows a proximity sensor 1430 coupled to the peripherals interface 1410.Alternately, the proximity sensor 1430 may be coupled to an inputcontroller 1440 in the I/O subsystem 1460. Proximity sensors 1430 maygenerally include remote sensing technology for proximity detection,range measurement, target identification, etc.

The PMD 104 may also include one or more accelerometers 1426. FIG. 14shows an accelerometer 1426 coupled to the peripherals interface 1410.Alternately, the accelerometer 1426 may be coupled to an inputcontroller 1440 in the I/O subsystem 1460.

The PMD 104 may include one or more inertial measurement units (IMU)1428. An IMU 1428 may measure and report the PMD's velocity,acceleration, orientation, and gravitational forces using a combinationof gyroscopes and accelerometers (e.g., accelerometer 1426).

The PMD 104 may also include a global positioning system (GPS) receiver1420. FIG. 14 shows a GPS receiver 1420 coupled to the peripheralsinterface 1410. Alternately, the GPS receiver 1420 may be coupled to aninput controller 1440 in the I/O subsystem 1460. The GPS receiver 1420may receive signals from GPS satellites in orbit around the earth,calculate a distance to each of the GPS satellites (through the use ofGPS software, e.g., GPS module 1476), and thereby pinpoint a currentglobal position of a PMD 104. In some embodiments, global positioning ofthe PMD 104 may be accomplished without GPS satellites through the useof similar techniques applied to cellular and/or Wi-Fi signals receivedfrom cellular and/or Wi-Fi antennae.

In some embodiments, the software components stored in memory 1416 mayinclude an operating system 1470, a communication module (or set ofinstructions) 1472, a contact/motion module (or set of instructions), agraphics module (or set of instructions) 1474, a text input module (orset of instructions), a Global Positioning System (GPS) module (or setof instructions) 1476, and various applications (or sets ofinstructions) 1480.

The operating system 1470 (e.g., Darwin, RTXC, LINUX, UNIX, OS X,WINDOWS, or an embedded operating system such as VxWorks) includesvarious software components and/or drivers for controlling and managinggeneral system tasks (e.g., memory management, storage device control,power management, etc.) and facilitates communication between varioushardware and software components.

The communication module 1472 facilitates communication with otherdevices over one or more external ports 1444 and/or via networkcommunications interface 1422. The external port 1444 (e.g., UniversalSerial Bus (USB), FIREWIRE, etc.) may be adapted for coupling directlyto other devices or indirectly over a network (e.g., the Internet,wireless LAN, etc.).

A contact/motion module may detect contact with the touch screen 1438(in conjunction with the display controller 1436) and other touchsensitive devices (e.g., a touchpad or physical click wheel). Thecontact/motion module includes various software components forperforming various operations related to detection of contact, such asdetermining if contact has occurred, determining if there is movement ofthe contact and tracking the movement across the touch screen 1438, anddetermining if the contact has been broken (i.e., if the contact hasceased). Determining movement of the point of contact may includedetermining speed (magnitude), velocity (magnitude and direction),and/or an acceleration (a change in magnitude and/or direction) of thepoint of contact. These operations may be applied to single contacts(e.g., one finger contacts) or to multiple simultaneous contacts (e.g.,“multitouch”/multiple finger contacts). In some embodiments, thecontact/motion module and the display controller 1436 also detectcontact on a touchpad.

The graphics module 1474 includes various known software components forrendering and displaying graphics on the touch screen 1438, includingcomponents for changing the intensity of graphics that are displayed. Asused herein, the term “graphics” includes any object that can bedisplayed to a user, which may include, but not be limited by, text, webpages, icons (such as user-interface objects including soft keys),digital images, videos, animations and the like.

The localization module 1476 may determine the location and/ororientation of the device based on sensor data received from componentssuch as, but not limited to, IMU 1428, accelerometer(s) 1426, proximitysensors 1430 and optical sensors 1434. Position and/or orientationinformation may be provided for use in various applications (e.g., tothe FDA interface module 1482).

The applications 1480 may include the following modules (or sets ofinstructions), or a subset or superset thereof: an FDA interface module1482 for interfacing with an FDA 100. For example, FDA interface module1480 may be an app that allows a user 102 to control the flight andimage capture by an FDA 100 via the PMD 104 and perform any of the othermethodologies disclosed in this specification; a camera module 1484 forthe capture and analysis of still and/or video images; a video playermodule 1486 for playing back images/videos captured by an FDA; and anyother apps or modules 1488;

In conjunction with touch screen 1438, display controller 1436, graphicsmodule 1474, communications interface 1422, and IMU 1428, the FDAinterface module 1482 may display to the user 102 a user interface tocontrol the flight and image capture by an associated FDA 100. In someembodiments, FDA interface module may include image video editing toolsto perform some of the processes described herein. In some embodiments,the FDA interface module in conjunction with a graphics module 1474 andGPU 1412, may facilitate the real time generating and rendering of 3Dmodels of surrounding areas based on sensor data received via an FDA 100and/or the PMD 104. In some embodiments, the real time generating andrendering may be performed by processors at a PMD 104, by processors atan FDA 100, and/or by processors at other remote computing devices.

In conjunction with touch screen 1438, display controller 1436, opticalsensor(s) 1434, optical sensor controller 1432, graphics module 1475,and an image management module, the camera module 1484 may be used tocapture still images or video (including a video stream) and store thesein memory 1416, to modify characteristics of a still image or video, orto delete a still image or video from memory 1416.

In conjunction with a touch screen 1438, a display controller 1436, agraphics module 1474, a camera module 1484, an image management module(not shown) may be used to arrange, modify or otherwise manipulate,label, delete, present (e.g., in a digital slide show or album), andstore still and/or video images.

In conjunction with the touch screen 1438, the display controller 1436,the graphics module 1474, the audio circuitry 1424, and the speaker1450, the video player module 1486 may be used to display, present orotherwise play back videos (e.g., on the touch screen or on an external,connected display via external port 1444). Embodiments of userinterfaces and associated processes using video player module 1486 aredescribed further below.

Each of the above identified modules and applications correspond to aset of instructions for performing one or more functions describedabove. These modules (i.e., sets of instructions) need not beimplemented as separate software programs, procedures or modules, andthus various subsets of these modules may be combined or otherwisere-arranged in various embodiments. In some embodiments, memory 1416 maystore a subset of the modules and data structures identified above.Furthermore, memory 1416 may store additional modules and datastructures not described above.

Remarks and Disclaimers

The disclosed description and drawings are illustrative and are not tobe construed as limiting. Numerous specific details are described toprovide a thorough understanding of the disclosure. However, in certaininstances, well-known or conventional details are not described in orderto avoid obscuring the description. References to one or an embodimentin the present disclosure can be, but not necessarily are, references tothe same embodiment; and, such references mean at least one of theembodiments.

Reference in this specification to “one embodiment” or “an embodiment”means that a particular feature, structure, or characteristic describedin connection with the embodiment is included in at least one embodimentof the disclosure. The appearances of the phrase “in one embodiment” invarious places in the specification are not necessarily all referring tothe same embodiment, nor are separate or alternative embodimentsmutually exclusive of other embodiments. Moreover, various features aredescribed which may be exhibited by some embodiments and not by others.Similarly, various requirements are described which may be requirementsfor some embodiments, but not other embodiments.

The terms used in this specification generally have their ordinarymeanings in the art, within the context of the disclosure, and in thespecific context where each term is used. Certain terms that are used todescribe the disclosure are discussed below, or elsewhere in thespecification, to provide additional guidance to the practitionerregarding the description of the disclosure. For convenience, certainterms may be highlighted, for example, using italics and/or quotationmarks. The use of highlighting has no influence on the scope and meaningof a term; the scope and meaning of a term is the same, in the samecontext, whether or not it is highlighted. It will be appreciated thatsame thing can be said in more than one way.

Consequently, alternative language and synonyms may be used for any oneor more of the terms discussed herein, nor is any special significanceto be placed upon whether or not a term is elaborated or discussedherein. Synonyms for certain terms are provided. A recital of one ormore synonyms does not exclude the use of other synonyms. The use ofexamples anywhere in this specification including examples of any termsdiscussed herein is illustrative only, and is not intended to furtherlimit the scope and meaning of the disclosure or of any exemplifiedterm. Likewise, the disclosure is not limited to various embodimentsgiven in this specification.

Without intent to limit the scope of the disclosure, examples ofinstruments, apparatus, methods and their related results according tothe embodiments of the present disclosure are given below. Note thattitles or subtitles may be used in the examples for convenience of areader, which in no way should limit the scope of the disclosure. Unlessotherwise defined, all technical and scientific terms used herein havethe same meaning as commonly understood by one of ordinary skill in theart to which this disclosure pertains. In the case of conflict, thepresent document, including definitions will control.

What is claimed is:
 1. A method comprising: receiving sensor datagathered by sensors onboard an unmanned aerial vehicle (UAV) in flightthrough a physical environment; generating a three-dimensional (3D)model of the physical environment by processing the sensor data receivedfrom the UAV; determining a position and orientation of a display devicein the physical environment; placing a virtual camera at a position andorientation in the 3D model of the physical environment that correspondsto the determined position and orientation of the display device in thephysical environment; generate a visual representation of at least aportion of the 3D model of the physical environment from a field of viewof the virtual camera; and causing display, via the display device, ofthe generated visual representation.
 2. The method of claim 1, whereinthe display device is any of a virtual reality display device oraugmented reality display device.
 3. The method of claim 1, wherein thesensors onboard the UAV include any one or more of: an optical sensor, amotion sensor, or a proximity sensor.
 4. The method of claim 1, whereinthe 3D model of the physical environment is generated and continuallyupdated in real time or near real time as the UAV is in flight throughthe physical environment.
 5. The method of claim 1, wherein thegenerated visual representation of the 3D model includes a visualrepresentation of a physical object in the physical environment that isnot in a line of sight with the display device.
 6. The method of claim1, further comprising: tracking a motion of a physical object throughthe physical environment by processing the sensor data gathered by thesensors onboard the UAV; and updating the generated 3D model of thephysical environment based on the tracked motion of the physical objectthrough the physical environment.
 7. The method of claim 1, wherein thegenerated visual representation includes a graphical user interactionelement, the method further comprising: detecting a user interactionwith the graphical user interaction element; and generating controlcommands configured to cause the UAV to maneuver based on the detecteduser interaction.
 8. The method of claim 1, further comprising:detecting a change in the position and/or orientation of the displaydevice in the physical environment; and generating control commandsconfigured to cause the UAV to maneuver based on the detected change inposition and/or orientation of the display device in the physicalenvironment.
 9. A computer system comprising: a processor; and a memorycoupled to the processor, the memory having instructions stored thereon,which when executed by the processor cause the computer system to:receive sensor data gathered by sensors onboard an unmanned aerialvehicle (UAV) in flight through a physical environment; generate athree-dimensional (3D) model of the physical environment by processingthe sensor data received from the UAV; determine a position andorientation of a display device in the physical environment; place avirtual camera at a position and orientation in the 3D model of thephysical environment that corresponds to the determined position andorientation of the display device in the physical environment; generatea visual representation of at least a portion of the 3D model of thephysical environment from a field of view of the virtual camera; andcause display, via the display device, of the generated visualrepresentation.
 10. The computer system of claim 9, wherein the 3D modelof the physical environment is generated and continually updated in realtime or near real time as the UAV is in flight through the physicalenvironment.
 11. The computer system of claim 9, wherein the generatedvisual representation of the 3D model includes a visual representationof a physical object in the physical environment that is not in a lineof sight with the display device.
 12. The computer system of claim 9,wherein the memory has further instructions stored thereon, which whenexecuted by the processor, cause the computer system to further: track amotion of a physical object through the physical environment byprocessing the sensor data gathered by the sensors onboard the UAV; andupdate the generated 3D model of the physical environment based on thetracked motion of the physical object through the physical environment.13. The computer system of claim 9, wherein the generated visualrepresentation includes a graphical user interaction element, whereinthe memory has further instructions stored thereon, which when executedby the processor, cause the computer system to further: detect a userinteraction with the graphical user interaction element; and generatecontrol commands configured to cause the UAV to maneuver based on thedetected user interaction.
 14. The computer system of claim 9, whereinthe memory has further instructions stored thereon, which when executedby the processor, cause the computer system to further: detect a changein the position and/or orientation of the display device in the physicalenvironment; and generate control commands configured to cause the UAVto maneuver based on the detected change in position and/or orientationof the display device in the physical environment.
 15. A mobile devicecomprising: a display device; an accelerometer; a global positioningsystem (GPS) receiver; a wireless communication interface; and acomputer system configured to: access, via the wireless communicationinterface, a three-dimensional (3D) model of a physical environment, the3D model of the physical environment generated based on sensor data froman unmanned aerial vehicle (UAV) in flight through the physicalenvironment determine, based on data from the accelerometer and GPSreceiver, a position and orientation of the mobile device in thephysical environment; place a virtual camera at a position andorientation in the 3D model of the physical environment that correspondsto the determined position and orientation of the mobile device in thephysical environment; generate a visual representation of at least aportion of the 3D model of the physical environment from a field of viewof the virtual camera; and cause display, via the display device, of thegenerated visual representation.
 16. The mobile device of claim 15,wherein the 3D model of the physical environment is generated andcontinually updated in real time or near real time as the UAV is inflight through the physical environment.
 17. The mobile device of claim15, wherein the generated visual representation of the 3D model includesa visual representation of a physical object in the physical environmentthat is not in a line of sight with the mobile device.
 18. The mobiledevice of claim 15, wherein the display device is any of a virtualreality display device or augmented reality display device.
 19. Themobile device of claim 15, wherein the generated visual representationincludes a graphical user interaction element, wherein the computersystem is configured to further: detect a user interaction with thegraphical user interaction element; and transmit, via the wirelesscommunication interface, a command signal to the UAV, the configured tocause the UAV to autonomously maneuver based on the detected userinteraction.
 20. The mobile device of claim 15, wherein the computersystem is configured to further: detect, based on updated data from thefrom the accelerometer and GPS receiver, a change in the position and/ororientation of the mobile device in the physical environment; update theposition and/or orientation in the virtual camera in the 3D model of thephysical environment based on the detected change in the position and/ororientation of the mobile device in the physical environment; generatean updated visual representation of the 3D model of the physicalenvironment from an updated field of view of the virtual camera; andcause display, via the display device, of the generated updated visualrepresentation.